ABB IRB 6650S Series Product Manual page 392

5 Calibration
5.1.2 Calibration methods
Continued
For most cases after motor and transmission replacements that do not include
taking apart the robot structure, standard calibration is sufficient. Standard
calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in the section
page
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum, which describes
the method and the different routines further.
392
436.
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Product manual - IRB 6650S
3HAC020993-001 Revision: Z